version: 66.04
glider: 167
mission: 2
dive: 427
start: 7 30 109 23 36 0
data:
$ID,167
$MISSION,2
$DIVE,427
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,253
$T_MISSION,304
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51932
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,475
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-14131.423
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2545
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20.75
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2483
$C_ROLL_CLIMB,2396
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,77
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,389
$VBD_MAX,3987
$C_VBD,3532
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.600696
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043387017
$SEABIRD_T_H,0.00063414662
$SEABIRD_T_I,2.5692387e-05
$SEABIRD_T_J,2.8978091e-06
$SEABIRD_C_G,-9.8799791
$SEABIRD_C_H,1.1029794
$SEABIRD_C_I,-0.0010948726
$SEABIRD_C_J,0.00016878155
$GPS1,232306,2446.927,12417.909,30,1.7,31,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-68.0
$GPS2,233540,2446.877,12417.888,13,3.8,32,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_4
$TGT_LATLONG,2441.000,12345.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,284.4,56403,-24.8,-13.043
$D_GRID,727
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.34,-121.7,0.0,0.0,0,62,0.00,0.00,-44.58,0.000,2,0.000,0.000,141,2508,2413
$GC,66,-1.34,-121.7,3.2,-2.3,7,131,8.02,1.92,-47.47,0.000,4,0.232,0.054,2099,3735,3990
$GC,380,-0.92,-121.7,58.7,-16.4,62,388,0.52,1.80,0.00,0.000,6,0.162,0.021,2248,2444,3990
$GC,728,-1.28,-121.7,94.5,-10.3,123,734,0.30,1.90,0.00,0.000,4,0.053,0.021,2120,1094,3991
$GC,748,-1.41,-121.7,97.0,-11.0,126,755,0.00,2.03,0.00,0.000,6,0.000,0.026,2111,2477,3991
$GC,1096,-1.20,-121.7,148.3,-15.0,187,1103,0.17,1.92,0.00,0.000,4,0.167,0.048,2154,3753,3992
$GC,1183,-1.04,-121.7,160.3,-12.8,202,1191,0.20,1.77,0.00,0.000,6,0.159,0.020,2208,2464,3992
$GC,1532,-1.36,-121.7,192.3,-10.7,263,1538,0.25,1.98,0.00,0.000,4,0.056,0.041,2096,3759,3993
$GC,1562,-1.23,-121.7,196.5,-14.6,268,1569,0.20,1.75,0.00,0.000,6,0.166,0.021,2149,2490,3993
$GC,1909,-1.23,-121.7,235.8,-10.6,329,1914,0.00,1.92,0.00,0.000,4,0.000,0.041,2141,3760,3993
$GC,1934,-1.23,-121.7,238.3,-10.5,333,1940,0.00,1.77,0.00,0.000,6,0.000,0.021,2141,2473,3993
$GC,2280,-1.33,-121.7,273.8,-11.0,394,2287,0.00,1.92,0.00,0.000,4,0.000,0.023,2141,1106,3994
$GC,2327,-1.33,-121.7,279.5,-11.5,402,2334,0.00,2.05,0.00,0.000,6,0.000,0.032,2137,2497,3993
$GC,2666,-1.44,-121.7,314.9,-11.0,450,2670,0.15,2.00,0.00,0.000,4,0.067,0.022,2071,1106,3993
$GC,2705,-1.23,-121.7,320.0,-12.7,453,2712,0.30,2.00,0.00,0.000,6,0.160,0.028,2146,2472,3993
$GC,3031,-1.40,-121.7,353.5,-9.2,484,3032,0.15,0.00,0.00,0.000,6,0.071,0.000,2083,2473,3994
$GC,3351,-1.26,-121.7,388.2,-11.0,514,3355,0.20,1.95,0.00,0.000,4,0.159,0.041,2137,3761,3993
$GC,3431,-1.26,-121.7,397.1,-11.0,521,3435,0.00,1.85,0.00,0.000,6,0.000,0.021,2137,2435,3993
$GC,3763,-1.42,-121.7,429.1,-9.4,552,3767,0.15,2.03,0.00,0.000,4,0.069,0.043,2070,3750,3992
$GC,3803,-1.17,-121.7,433.9,-12.5,555,3810,0.35,1.80,0.00,0.000,6,0.165,0.021,2168,2463,3992
$GC,4129,-1.45,-121.7,464.3,-9.7,586,4133,0.22,1.95,0.00,0.000,4,0.062,0.023,2071,1099,3990
$GC,4176,-1.27,-121.7,469.5,-12.2,590,4181,0.22,2.00,0.00,0.000,6,0.163,0.030,2131,2441,3990
$GC,4502,-1.44,-121.7,499.0,-8.7,620,4506,0.15,1.95,0.00,0.000,4,0.074,0.023,2070,1098,3989
$GC,4559,-1.28,-121.7,504.9,-11.1,623,4564,0.25,1.98,0.00,0.000,6,0.160,0.030,2134,2430,3988
$GC,4876,-1.45,-121.7,536.5,-10.3,638,4880,0.15,1.92,0.00,0.000,4,0.074,0.024,2073,1103,3985
$GC,4923,-1.31,-121.7,542.0,-12.5,640,4927,0.20,1.95,0.00,0.000,6,0.164,0.030,2124,2414,3985
$GC,5259,-1.42,-121.7,575.4,-9.7,656,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2414,3983
$GC,5566,-1.53,-121.7,604.5,-9.8,671,5570,0.17,1.90,0.00,0.000,4,0.071,0.024,2049,1106,3980
$GC,5635,-1.32,-121.7,612.6,-12.9,674,5640,0.28,1.92,0.00,0.000,6,0.171,0.031,2117,2397,3979
$GC,5972,-1.46,-121.7,647.0,-10.3,690,5976,0.12,2.10,0.00,0.000,4,0.080,0.045,2067,3762,3977
$GC,6050,-1.23,-121.7,657.6,-13.5,693,6056,0.28,1.95,0.00,0.000,6,0.167,0.022,2142,2389,3976
$GC,6366,-1.45,-121.7,688.2,-9.3,709,6371,0.17,1.85,0.00,0.000,4,0.072,0.025,2067,1102,3974
$GC,6441,-1.32,-121.7,696.8,-11.5,712,6445,0.22,1.90,0.00,0.000,6,0.163,0.031,2119,2378,3974
$STATE,6765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6766,begin apogee
$GC,6772,-0.24,0.0,728.1,9.1,728,6868,1.12,0.00,89.32,1.180,6,0.144,0.000,2466,2379,3533
$STATE,6869,end apogee,CONTROL_FINISHED_OK
$STATE,6869,begin climb
$GC,6873,1.34,121.7,734.3,0.0,733,6976,1.45,0.00,99.32,1.151,6,0.063,0.000,2981,2380,3035
$GC,7278,0.82,187.4,716.5,8.3,753,7337,0.62,2.22,52.08,1.137,4,0.209,0.048,2815,3753,2767
$GC,7380,0.68,243.1,708.7,9.0,756,7433,0.22,2.00,46.05,1.117,6,0.188,0.022,2767,2392,2539
$GC,7761,0.93,298.7,675.2,9.1,775,7812,0.20,2.10,44.92,1.117,4,0.074,0.030,2858,1024,2314
$GC,7986,0.94,312.2,647.5,12.1,785,8003,0.00,2.17,11.68,1.012,6,0.000,0.032,2858,2443,2258
$GC,8313,0.98,339.1,609.6,11.1,801,8342,0.00,2.15,22.83,1.072,4,0.000,0.050,2858,3761,2148
$GC,8474,0.89,339.1,588.2,14.1,808,8478,0.15,1.85,0.00,0.000,6,0.182,0.024,2830,2493,2144
$GC,8803,1.07,360.8,549.4,11.5,824,8828,0.17,2.25,18.35,1.040,4,0.075,0.031,2916,1021,2061
$GC,8896,0.98,360.8,536.7,14.0,828,8901,0.20,2.20,0.00,0.000,6,0.179,0.032,2864,2456,2058
$GC,9218,1.14,386.1,498.4,11.2,844,9245,0.15,2.08,21.42,1.018,4,0.079,0.048,2923,3769,1957
$GC,9355,0.93,386.1,479.3,14.7,855,9361,0.32,1.88,0.00,0.000,6,0.184,0.024,2845,2483,1952
$GC,9680,1.24,409.2,443.2,11.4,886,9708,0.25,2.08,20.25,0.979,4,0.070,0.048,2949,3756,1862
$GC,9742,1.02,409.2,433.7,16.2,891,9749,0.32,1.98,0.00,0.000,6,0.185,0.023,2872,2421,1859
$GC,10068,1.30,445.0,397.0,10.5,922,10104,0.22,2.12,29.65,0.957,4,0.070,0.028,2977,999,1719
$GC,10166,1.16,445.0,382.6,15.0,930,10174,0.22,2.15,0.00,0.000,6,0.188,0.031,2921,2407,1715
$GC,10492,1.26,462.2,341.7,11.8,961,10515,0.00,2.12,15.20,0.883,4,0.000,0.049,2922,3752,1646
$GC,10562,1.26,462.2,332.8,13.6,967,10566,0.00,2.03,0.00,0.000,6,0.000,0.024,2925,2380,1644
$GC,10893,1.44,470.5,288.3,12.4,1005,10908,0.20,2.22,7.75,0.769,4,0.069,0.048,3009,3750,1612
$GC,10949,1.15,470.5,279.0,17.7,1014,10957,0.38,1.92,0.00,0.000,6,0.186,0.024,2921,2426,1611
$GC,11299,1.37,473.8,234.2,12.8,1075,11312,0.17,2.12,4.07,0.572,4,0.069,0.048,2998,3749,1599
$GC,11349,1.14,473.8,226.2,17.3,1083,11355,0.35,2.05,0.00,0.000,6,0.190,0.022,2915,2339,1600
$GC,11695,1.49,492.9,183.9,11.7,1144,11721,0.25,2.00,17.40,0.765,4,0.064,0.028,3029,1006,1521
$GC,11862,1.35,492.9,156.6,16.3,1173,11869,0.20,2.10,0.00,0.000,6,0.175,0.029,2978,2411,1518
$GC,12211,1.47,506.4,111.2,12.1,1234,12231,0.12,2.08,12.43,0.681,4,0.090,0.027,3033,1014,1466
$GC,12322,1.47,508.5,95.6,12.9,1253,12328,0.00,2.08,0.00,0.000,6,0.000,0.029,3033,2399,1464
$GC,12667,1.47,508.5,50.0,14.6,1314,12674,0.00,2.05,0.00,0.000,4,0.000,0.027,3042,1004,1463
$GC,12835,1.48,511.3,29.2,12.8,1343,12847,0.00,2.00,5.28,0.508,6,0.000,0.028,3042,2353,1447
$STATE,13054,end climb,SURFACE_DEPTH_REACHED
$STATE,13054,begin surface coast
$FINISH,1.7,1.006667
$STATE,13083,end surface coast,CONTROL_FINISHED_OK
$STATE,13083,begin surface
$SM_CCo,13162,0.00,0.000,0,0,1445,511.94
$SM_GC,2.61,7.72,0.00,0.00,0.053,0.000,0.000,142,2495,1445,-7.49,0.34,511.94
$IRIDIUM_FIX,2437.06,12418.91,241098,232305
$TT8_MAMPS,0.028379
$HUMID,1703
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.10
$XPDR_PINGS,3
$24V_AH,23.8,72.827
$10V_AH,10.7,39.514
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,28.475,111.925,518.000,0.000,0.000,82.715,198.602,174.516,6.250,0.000,0.000,33.679,2435.131,7603.104,638.155,2372.374,855.859,0.000,1848.368,0.000,2307.611,0.000,37.749,0.000
$DEVICE_MAMPS,232.401,59.059,1179.646,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,931.815,985.987,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75807,1387
$CAP_FILE_SIZE,151776,0
$CFSIZE,260165632,192065536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.115,102.9,1
$GPS,310709,031636,2446.986,12417.728,37,0.9,38,-3.7